Leedale Limited, of Heage Road Industrial Estate, Heage Road, Ripley, Derbyshire, pleaded guilty to breaching Section 2(1) of the Health and Safety at Work etc Act 1974.
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It was fined £300,000 with £50,737 in costs.
Derby Crown Court heard how Matthew Lambert, 39, was refuelling his road sweeper at Leedale's yard on 26 November 2013.
While Mr Lambert was refuelling at the rear of the vehicle, a tipper lorry reversed into him and crushed him between the two vehicles.
He died as a result of catastrophic head injuries.
A Health and Safety Executive (HSE) investigation found there were no marked or identified vehicle and pedestrian routes.
In addition, there were no rules or control of reversing manoeuvres, while lighting at the site was poor and below required standard.
(LM)
